EP2931475B1 - Schleifvorrichtung mit mittel zum wechseln einer schleifscheibe - Google Patents

Schleifvorrichtung mit mittel zum wechseln einer schleifscheibe Download PDF

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Publication number
EP2931475B1
EP2931475B1 EP13802952.5A EP13802952A EP2931475B1 EP 2931475 B1 EP2931475 B1 EP 2931475B1 EP 13802952 A EP13802952 A EP 13802952A EP 2931475 B1 EP2931475 B1 EP 2931475B1
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EP
European Patent Office
Prior art keywords
plate
disk
assembly
sanding
pulling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13802952.5A
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English (en)
French (fr)
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EP2931475A1 (de
Inventor
Samuel BONNET
Sébastien Garnier
Sébastien LE LOCH
Benoît FURET
Guillaume GALLOT
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Universite de Nantes
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Universite de Nantes
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Publication of EP2931475A1 publication Critical patent/EP2931475A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B45/00—Means for securing grinding wheels on rotary arbors
    • B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
    • B24B23/04—Portable grinding machines, e.g. hand-guided; Accessories therefor with oscillating grinding tools; Accessories therefor
    • B24B23/046—Clamping or tensioning means for abrasive sheets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D9/00—Wheels or drums supporting in exchangeable arrangement a layer of flexible abrasive material, e.g. sandpaper
    • B24D9/08—Circular back-plates for carrying flexible material
    • B24D9/085—Devices for mounting sheets on a backing plate

Definitions

  • the present invention relates to the field of sanding devices.
  • the present invention relates to a sanding device comprising means for precise and autonomous abrasive disk change.
  • the invention applies in particular to orbital sanders having dust suction means through a support plate and through the abrasive disk.
  • a first object of the present invention is to provide means to ensure reliable operation over time, despite operating in a difficult environment because of the dust resulting from sanding.
  • Another object of the invention is to provide means for ensuring a precise relative positioning of a sanding support plate with respect to replacement abrasive discs intended to be placed on said support plate.
  • This set constitutes a complete and autonomous system allowing, after simple positioning of the orbital sanding effector 100 by an automated means, to angularly orient the plate 110 of the sander 100, to remove a used perforated disc 10, to position a new perforated disc 10 on the tray, to control at all times the presence or absence of disc perforated 10 on the plate 110 and store a set of new perforated discs 10 in a magazine.
  • the system guarantees precise positioning of the new perforated disc 10 by imposing the coincidence of suction orifices respectively provided in the abrasive disk 10 and in the plate 110.
  • the set illustrated on the figure 1 is designed to be compact enough to be embedded on a moving means or on the rail of a 7-axis industrial robot for example.
  • the aforementioned 6 subassemblies are positioned to intervene successively in order to tear off a used abrasive disk 10 placed on the plate 110 of an orbital sander 100, then to replace a new disk 10 on the plate 110, starting from a unique and constant position of the sander 100 (O, X, Z mark) and its automated arm. In the following description, this position of the sander will be called “single position" for simplification.
  • each of the 6 subsets makes it possible to individually actuate each of these subsets sequentially without interfering with the other subsets.
  • the sander 100 is placed on an automated arm adapted to sequentially move the sander between the abrasive disc changing position 10 illustrated in FIG. figure 1 and a working position remote from the disk change assembly, wherein the abrasive disk carried by the plate 110 is supported on a piece to be sanded and drag to ensure the sanding of this piece.
  • the orbital sander 100 schematized on the figure 2 has a housing 102 which carries a motor shaft 120 centered on an axis 122 and a driven shaft 130 connected to the plate 110 and itself centered on an axis 132 parallel to the axis 122 of the motor shaft 120 but eccentric with respect to this axis 122 of a few millimeters.
  • the drive shaft 120 is rotated about the axis 122 by the motor 140 of the sander.
  • the driven shaft 130 is rotatably mounted in a bearing 136 connected to the drive shaft 120 by a rigid radial arm 134 transverse to the axis 122.
  • the bearing 136 describes an orbital movement about the axis 122.
  • the driven shaft 130 is continuously free to rotate in the bearing 136, about its axis 132.
  • the relative rotational movement of the driven shaft 130 relative to the bearing 136 depends on the resistant forces applied by the sanded piece on the abrasive disc 10 connected to the plate 110.
  • the motor shaft 120 When stopped, the motor shaft 120 becomes free and can be turned manually.
  • the support plate 110 is carried by the free end of the driven shaft 130 emerging from the housing 102. It extends perpendicularly to the axis 132.
  • the plate 110 is adapted to receive and maintain by any appropriate means, for example by a velvet / hook type system or any equivalent means, an abrasive disk 10.
  • the plate 110 and the disc 10 are provided with respective through perforations 112, 12.
  • the arrangement of the perforations 12 provided on the disc 10 is identical to the arrangement of the perforations 112 provided on the plate 110 to allow the evacuation of the dust by suction. course of operation.
  • Each perforation 12 of the disc 10 must be perfectly aligned with a perforation 112 of the plate 110 to allow an optimal suction flow.
  • the support plate 110 comprises two notches 114, 116 distributed angularly around its periphery.
  • the two notches extend over the entire thickness of the plate 110 and opens onto the peripheral edge of the plate.
  • the two notches 114, 116 are symmetrical and diametrically opposed.
  • a first notch 114 is intended to cooperate with the positioning or indexing module 200 and the second notch 116 is intended to cooperate with a tear-off pliers 410 and the abrasive disk presence control module 500.
  • indexing means on the plate 110 in the form of a removal of material at the level of the two symmetrical notches 114, 116, has no dynamic or vibratory impact on the orbital sander. rotation.
  • these means 200 are preferably placed in the upper part of the disc changing assembly, at the station occupied by the sander 100 in the tear-off position of a used disc and positioning of a new disc 10.
  • the inclined surface 212 is located along a rectilinear section of the approach path of the plate 110 when the automated arm (not shown in the appended figures as indicated above) moves the sander 100 in the single position (reference O; X Z) that it must occupy in the set of disk change.
  • the inclined surface 212 is not parallel to the main direction of this section, but converges towards the median plane of the trajectory of the plate, towards the aforementioned single position.
  • the aforementioned plan will be referred to as the "median plane of trajectory". This plan is parallel to the plan of figures 1 and 8 to 10 and perpendicular to the plane of Figures 5 to 7 .
  • the two rollers 222 and 224 are carried by a mount 225 on either side of the median plane of trajectory of the plate 110. Their axes of rotation are parallel to the axes 122 and 132. Thus at the end of its displacement the plate 110 comes in contact with the two rollers 222 and 224 and the driven shaft 130 of the plate 110 ends to position itself precisely behind the motor shaft 120, the axis 132 and the axis 122 state in a plane which coincides with the direction axis of advance as seen on the figure 7 and which corresponds to the median plane of trajectory.
  • the motorized roller 222 in contact with the periphery of the plate 110, then makes it possible to drive in rotation the plate 110 around the axis 132 (and thus its perforated abrasive disk 10) in order to angularly orient the plate 110.
  • a sensor 226 preferably comprising a mechanical probe 227 located between the two rollers 222 and 224, in the median plane of trajectory, detects one of the two notches 114 of the plate 110 and triggers the rotational stop of the roller 222 when the probe 227 is placed opposite the notch 114, then ending the positioning of the suction ports 12 and 112.
  • the detection of the notch 114 may be made in various ways, for example but not necessarily by penetration of the mechanical probe in the notch 114.
  • the orbital sander 100 then occupies the precise position sought with respect to the assemblies 300, 400, 500, 600 and 700 to ensure the removal of a used disk 10 and the installation of a new disk 10.
  • This pulling subset 400 associated with the elevator subassembly 300 is placed at rest laterally at a lower floor relative to the station occupied by the sander 100 in a single position.
  • the tearing subassembly 400 comprises a plate 410 which rotates a jaw 412.
  • the plate 410 and the jaw 412 form in combination a disk gripping pliers.
  • the jaw 412 can be moved by any appropriate means, for example a jack 414, between a rest position, as illustrated in FIG. figure 8 in which the jaw 412 is remote from the plate 410, for example orthogonal to the plate 410, the clamp is open, and a working position in which the jaw 412 is pressed against the upper surface of the plate 410 and the clamp is by consequently closed.
  • the elevator 300 may be the subject of many embodiments. It preferably comprises a guide 310 inclined with respect to the vertical and centered on the median plane of trajectory, associated with a jack 320.
  • the guide 310 and the jack 320 are adapted to move the plate 410 and the lifting subassembly 400 in the median plane of trajectory between a retracted rest position shown on the figure 1 in which the pulling subassembly 400 is waiting in a lower lateral position relative to the sander 100 and a working position shown on the figure 8 in which the plate 410 is moved in abutment against the surface bottom of the plate 110, the jaw 412 being placed opposite the notch 116.
  • the actuation of the jack 414 causes the closure of the clamp by pivoting the jaw 412 (which is placed in the notch 116), and pinching the edge of a used disk 10 at the notch 116 .
  • the retraction of the jack 320 makes it possible to lower the plate 410 in the closed position of the clamp and thus to tear off the disk 10.
  • This control subassembly 500 is also placed at rest laterally at a lower stage relative to the station occupied by the sander 100 in a single position, and this preferably in a position diametrically opposed to the pulling module 400 with respect to the vertical of the sander 100.
  • the control module 500 comprises a rod 510 rotatably mounted on a base 512 and moved by any appropriate means, for example a jack 514, between a rest position, as illustrated in FIG. figure 9 in which the rod 510 is remote from the plate 110, and a working position in which the rod 510 is moved towards the plate 110 opposite the notch 116. During this movement, the rod 510 moves in the median plane of trajectory .
  • control module 500 is actuated firstly after tearing off a used disc 10 in order to check that the pulling has taken place. well done and secondly after setting up a new disc to control that the establishment of this new record has been made.
  • This control step is essential to ensure that the plate 110 is not likely to be affixed to a part to be sanded, being devoid of abrasive disc 10. In the opposite case indeed the displacement of the plate 110 on said part to be sanded could to deteriorate it.
  • This subassembly 600 is placed under the station occupied by the sander 100 in a single position, in the vertical thereof.
  • a magazine system 610 stores a set of abrasive discs 10 stacked horizontally on a base 602.
  • the discs 10 are positioned by an operator on 2 vertical centering rods 612, 616 each equipped, at their upper free end with a clip 613, 617 for holding the abrasive discs 10 and at their lower end, with a return spring 614, 618.
  • the clips 613, 617 are adapted to allow the extraction of a disc 10 when it adheres to the plate 110 while prohibiting extraction of the underlying disc.
  • the centering rods 612, 616 are mounted to slide vertically on the base 602 and urged downwards by the springs 614, 618 relative to the base 602.
  • an elevator system 700 for example a cylinder 710 underlying the magazine 610, makes it possible to push the magazine 610 upwards and to propose to the plate 110 without a disk a new tool 10 .
  • the angular orientation of the new disk 10 relative to the plate 110 and therefore a perfect alignment of the respective perforations 12 and 112 provided on the disk 10 and on the plate 110 are guaranteed since the plate is positioned accurately with respect to the sensor 226 and the The 610 store itself is precisely oriented with respect to the 226 sensor repository.
  • the descent of the store 610 by controlling the cylinder 710 separates the disk 10 from the reserve 610.
  • control system 500 ensures the presence of the disc 10 by the previously described step of displacement of the rod 510 and measurement of the stroke of it.
  • the abrasive disk change assembly then allows the automated arm to remove the orbital sander 100 to continue its sanding operation.
  • the device according to the present invention may comprise an additional actuator of the slide type to provide several abrasive disc magazines 610 with different particle sizes, for example, selectively under the plate 110 of the sander 100.
  • the assembly proposed according to the invention allows complete automation of the abrasive disc change and ensures precise positioning of the abrasive discs on the support plate of the sanding device suitable for ensuring optimum suction of sanded dust and to prohibit the application of the tray sanding support without the presence of a disc abrasive, on a surface to be sanded, thus avoiding any risk of deterioration of the surface to be sanded.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)

Claims (9)

  1. Schleifgruppe, umfassend eine Schleifvorrichtung (100), umfassend eine Trägerplatte (110) einer Schleifscheibe (10) und motorisierte Mittel (140), die geeignet sind, um einen Antrieb in Verschiebung der Trägerplatte (110) zu gewährleisten, gekennzeichnet durch die Tatsache, dass die Trägerplatte (110) zwei Einkerbungen (114, 116) umfasst, die winkelförmig auf ihrer Peripherie verteilt sind, wobei eine erste Einkerbung (114) dazu bestimmt ist, mit einem Positionierungsmodul (200) zusammenzuwirken und eine zweite Einkerbung (116) dazu bestimmt ist, mit einer Abrissklemme (400) und einem Kontrollmodul (500) des Vorhandenseins einer Schleifscheibe zusammenzuwirken, und dadurch gekennzeichnet, dass die Gruppe 6 Teilgruppen umfasst:
    ein Indexierungssystem (200) der Platte (100), ein Aufzugssystem (300) zum Abreißen, ein Abrisssystem (400) der Scheibe (10), ein Kontrollsystem (500) des Vorhandenseins einer Scheibe (10), ein Speichersystem (600) für neue Scheiben (10), ein Aufzugssystem (700) für den Speicher neuer Scheiben (10).
  2. Gruppe gemäß Anspruch 1, dadurch gekennzeichnet, dass die Schleifvorrichtung (100) eine orbitale Schleifmaschine ist, die ein Gehäuse (102) besitzt, das eine auf einer Achse (122) zentrierte Motorwelle (120) und eine geführte Welle (130) besitzt, die mit der Platte (110) verbunden ist und selbst auf einer Achse (132) zentriert ist, die parallel zur Achse (122) der Motorwelle (120) zentriert ist, aber im Verhältnis zu dieser Achse (122) um einige Millimeter versetzt ist, wobei die geführte Welle (130) frei in Rotation in einem Lager (136) montiert ist, das mit der Motorwelle (120) durch einen radialen steifen Arm (134) verbunden ist, der transversal zur Achse (122) der Motorwelle ist.
  3. Gruppe gemäß einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Platte (110) und die Scheibe (10) mit jeweiligen durchquerenden Perforierungen (112, 12) mit identischer Anordnung versehen sind.
  4. Gruppe gemäß einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die zwei Einkerbungen (114, 116) auf der Platte (110) symmetrisch und diametral entgegengesetzt sind.
  5. Gruppe gemäß einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Mittel (200) der Vorab-Positionierung der Platte (110) eine geneigte Fläche (212) umfassen, die sich entlang eines geradlinigen Abschnitts der Annäherungsbahn der Platte (110) derart befindet, dass die Peripherie der Platte (110) mit der geneigten Fläche (212) in Kontakt kommt.
  6. Gruppe gemäß irgendeinem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass Ausrichtungsmittel der Platte (110) zwei Laufrollen (222, 224) umfassen, die auf jeder Seite der mittleren Ebene der Bahn der Platte (110) durch eine Fassung (225) getragen werden, wobei eine der Laufrollen motorisiert und einem Sensor (226) zugeordnet ist, der einen mechanischen Fühler (227) umfasst, der geeignet ist, um eine der zwei Einkerbungen (114) der Platte (110) zu erfassen.
  7. Gruppe gemäß irgendeinem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass sie eine Abriss-Teilgruppe (400) umfasst, umfassend eine motorisierte Zange (410, 412) zum Greifen der Scheibe und einen Zylinder (414), der geeignet ist, um die Zange zwischen einer von der Schleifmaschine entfernten Ruheposition und einer Arbeitsposition zu verschieben, in der die Klemme gegenüber einer Einkerbung (116) platziert ist.
  8. Gruppe gemäß irgendeinem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass sie eine Teilgruppe (500) zur Kontrolle des Vorhandenseins oder des Fehlens einer Scheibe umfasst, umfassend einen Stift (510), der in Rotation auf einem Sockel (512) montiert ist und durch einen Zylinder (514) zwischen einer eingezogenen Ruheposition und einer Arbeitsposition verschoben ist, in der der Stift (510) zu der Platte (110) gegenüber einer Einkerbung (116) verschoben ist.
  9. Gruppe gemäß einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass sie eine Abriss-Teilgruppe (400) umfasst, umfassend eine geführte Abrissklemme (410, 412) mit Verschiebung in der mittleren Bahnebene und eine Kontroll-Teilgruppe (500) des Vorhandenseins oder des Fehlens einer Scheibe, umfassend einen geführten Erfassungsstift (510) mit Verschiebung in der mittleren Bahnebene, wobei die Abriss-Teilgruppe (400) und die Kontroll-Teilgruppe (500) deutlich entgegengesetzt im Verhältnis zur vertikalen Achse der Schleifvorrichtung (100) ist und durch die Tatsache gekennzeichnet ist, dass sie darüber hinaus ein Speichersystem (600) von neuen Scheiben (10) umfasst, das einem Aufzugssystem (700) zugeordnet ist, das der Schleifvorrichtung (100) zur Vertikalen desselben darunter liegt.
EP13802952.5A 2012-12-10 2013-12-09 Schleifvorrichtung mit mittel zum wechseln einer schleifscheibe Active EP2931475B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1261816A FR2999107B1 (fr) 2012-12-10 2012-12-10 Dispositif de poncage comprenant des moyens de changement de disque abrasif
PCT/EP2013/075974 WO2014090753A1 (fr) 2012-12-10 2013-12-09 Dispositif de ponçage comprenant des moyens de changement de disque abrasif

Publications (2)

Publication Number Publication Date
EP2931475A1 EP2931475A1 (de) 2015-10-21
EP2931475B1 true EP2931475B1 (de) 2017-01-25

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EP13802952.5A Active EP2931475B1 (de) 2012-12-10 2013-12-09 Schleifvorrichtung mit mittel zum wechseln einer schleifscheibe

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Country Link
US (1) US9969052B2 (de)
EP (1) EP2931475B1 (de)
ES (1) ES2623863T3 (de)
FR (1) FR2999107B1 (de)
WO (1) WO2014090753A1 (de)

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US9656364B2 (en) * 2013-07-16 2017-05-23 Honda Motor Co., Ltd. Method and fixture for attaching a sanding disc to a hand sander
EP3321032B1 (de) * 2014-02-20 2019-08-28 Fabrica Machinale S.r.l. Vorrichtung zum wechseln eines schleifblattes in einer schleifmaschine
EP2974828B1 (de) * 2014-07-15 2017-04-12 Rud. Starcke GmbH & Co. KG Verfahren und Vorrichtung zum Befestigen einer Schleifscheibe an einer Handschleifmaschine
CH712094A1 (de) * 2016-02-04 2017-08-15 Suhner Otto Ag Vorrichtung zum automatischen Wechsel von Schleifscheiben.
DE202016101430U1 (de) * 2016-03-15 2016-03-23 Asis Gmbh Schleifvorrichtung
DE102016106141A1 (de) * 2016-04-04 2017-10-05 Ferrobotics Compliant Robot Technology Gmbh Wechselstation zum automatischen Wechseln von Schleifmittel
DE102017130799A1 (de) * 2017-12-20 2019-06-27 Rud. Starcke Gmbh & Co. Kg Einrichtung zum Entfernen eines Schleifblattes von einem Schleifwerkzeug
CN111037460A (zh) * 2018-10-11 2020-04-21 富鼎电子科技(嘉善)有限公司 自动换砂装置
DE102018128390B4 (de) * 2018-11-13 2020-10-29 Philipp Ossner Schleifvorrichtung mit Wechseleinrichtung
IT201900011454A1 (it) * 2019-07-11 2021-01-11 Fabrica Machinale S R L Apparecchiatura per verificare la presenza, o l’assenza, di un elemento abrasivo in una macchina per la lavorazione di superfici
DE102019119152B4 (de) * 2019-07-15 2021-03-11 Ferrobotics Compliant Robot Technology Gmbh Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben
CN110743862A (zh) * 2019-09-12 2020-02-04 许密芳 一种新型单片机减薄加工设备
DE102019134093A1 (de) * 2019-12-12 2021-06-17 Bayerische Motoren Werke Aktiengesellschaft Wechselstation zum Ersetzen eines verbrauchten Arbeitsmittels durch ein unverbrauchtes Arbeitsmittel
JP7338517B2 (ja) * 2020-03-05 2023-09-05 トヨタ自動車株式会社 自動水研装置
DE102020122115B3 (de) * 2020-08-25 2022-02-24 Asis Gmbh Automation Systems & Intelligent Solutions Vorrichtung und Verfahren zum Austausch einer Schleifscheibe oder Schleifblüte einer robotergestützten Schleifmaschine

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Also Published As

Publication number Publication date
US9969052B2 (en) 2018-05-15
WO2014090753A1 (fr) 2014-06-19
FR2999107B1 (fr) 2015-01-09
US20160039067A1 (en) 2016-02-11
ES2623863T3 (es) 2017-07-12
FR2999107A1 (fr) 2014-06-13
EP2931475A1 (de) 2015-10-21

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